/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionIRs.h"
#include "ArRobot.h"
#include "ArCommands.h"

/**
   @param name name of the action
   @param backOffSpeed speed at which to back away (mm/sec)
   @param backOffTime number of msec to back up for (msec)
   @param turnTime number of msec to alow for turn (msec)
   @param setMaximums if true, set desired maximum speed limits to backOffSpeed when performing the action; otherwise use existing speed limits.
*/
AREXPORT ArActionIRs::ArActionIRs(const char *name, 
					  double backOffSpeed,
					  int backOffTime, int turnTime,
					  bool setMaximums) :
  ArAction(name, "Reacts to the IRs triggering")
{
  setNextArgument(ArArg("back off speed", &myBackOffSpeed, 
			"Speed at which to back away (mm/sec)"));
  myBackOffSpeed = backOffSpeed;

  setNextArgument(ArArg("back off time", &myBackOffTime,
			"Number of msec to back up for (msec)"));
  myBackOffTime = backOffTime;

  myStopTime = 1000;

  setNextArgument(ArArg("turn time", &myTurnTime,
			"Number of msec to allow for turn (msec)"));
  myTurnTime = turnTime;

  setNextArgument(ArArg("set maximums", &mySetMaximums,
			"Whether to set maximum vels or not (bool)"));
  mySetMaximums = setMaximums;
  
  myFiring = false; 
  mySpeed = 0.0;
  myHeading = 0.0;
}

AREXPORT ArActionIRs::~ArActionIRs()
{

}

AREXPORT void ArActionIRs::setRobot(ArRobot *robot)
{
  myRobot = robot;
  const ArRobotParams *params;
  params = myRobot->getRobotParams();
  myParams = *params;
  
  for(int i = 0; i < myParams.getNumIR(); i++)
    cycleCounters.push_back(1);
}

AREXPORT ArActionDesired *ArActionIRs::fire(ArActionDesired currentDesired)
{
  myDesired.reset();

  double angle = 0;
  int counter = 0;
  double turnRange = 135;

  ArUtil::BITS bit;

  if(myFiring)
    {  
      if (myStartBack.mSecSince() < myBackOffTime)
	{
	  myDesired.setVel(mySpeed);
	  myDesired.setDeltaHeading(0);
	  return &myDesired;
	}
      else if (myStartBack.mSecSince() < myBackOffTime + myTurnTime &&
	     ArMath::fabs(ArMath::subAngle(myRobot->getTh(), myHeading)) > 3)
	{
	  myDesired.setVel(0);
	  myDesired.setHeading(myHeading);
	  return &myDesired;
	}  
      else if(stoppedSince.mSecSince() < myStopTime)
	{
	  myDesired.setVel(0);
	  myDesired.setDeltaHeading(0);
	  return &myDesired;
	}
    
      myFiring = false;
    }


  if(myParams.haveTableSensingIR())
    {
      for (int i = 0; i < myParams.getNumIR(); ++i)
	{
	  switch(i)
	    {
	    case 0:
	      bit = ArUtil::BIT0;
	      break;
	    case 1:
	      bit = ArUtil::BIT1;
	      break;
	    case 2:
	      bit = ArUtil::BIT2;
	      break;
	    case 3:
	      bit = ArUtil::BIT3;
	      break;
	    case 4:
	      bit = ArUtil::BIT4;
	      break;
	    case 5:
	      bit = ArUtil::BIT5;
	      break;
	    case 6:
	      bit = ArUtil::BIT6;
	      break;
	    case 7:
	      bit = ArUtil::BIT7;
	      break;
	    }
	  if(myParams.haveNewTableSensingIR() && myRobot->getIODigInSize() > 3)
	    {
	      if((myParams.getIRType(i) && !(myRobot->getIODigIn(3) & bit)) ||
		 (!myParams.getIRType(i) && (myRobot->getIODigIn(3) & bit)))
	      {
		if(cycleCounters[i] < myParams.getIRCycles(i))
		  {
		    cycleCounters[i] = cycleCounters[i] + 1;	      
		  }
		else
		  {
		    cycleCounters[i] = 1;
		   
		    ArPose pose;
		    pose.setX(myParams.getIRX(i));
		    pose.setY(myParams.getIRY(i));
		    if(pose.getX() > 0)
		      {
			ArPose center(0,0,0);
			angle += center.findAngleTo(pose);
			counter++;
		      }
		  }
	      }
	      else
		{
		  cycleCounters[i] = 1;
		}
	    }
	  else
	    {
	      if(!(myRobot->getDigIn() & bit))
	      {
		if(cycleCounters[i] < myParams.getIRCycles(i))
		  {
		    cycleCounters[i] = cycleCounters[i] + 1;	      
		  }
		else
		  {
		    cycleCounters[i] = 1;
		    
		    ArPose pose;
		    pose.setX(myParams.getIRX(i));
		    pose.setY(myParams.getIRY(i));
		    if(pose.getX() > 0)
		      {
			ArPose center(0,0,0);
			angle += center.findAngleTo(pose);
			counter++;
		      }
		  }
	      }
	      else
		{
		  cycleCounters[i] = 1;
		}
	      
	    }
	}
 
      if(counter > 0 && myRobot->getVel() > 50)
	{
	  angle = angle / (double) counter;
	  if(angle > (turnRange / 2))
	    angle = turnRange / 2;
	  else if(angle < -(turnRange / 2))
	    angle = -(turnRange / 2);
	  
	  if(angle < 0) angle = ((turnRange / 2) + angle) * -1;
	  else angle = ((turnRange / 2) - angle);
	
	  myHeading = ArMath::addAngle(myRobot->getTh(), angle);
	  mySpeed = -myBackOffSpeed;
	  myStartBack.setToNow();
	  ArLog::log(ArLog::Normal, "ArActionIRS: estopping");
	  myRobot->comInt(ArCommands::ESTOP, 0);
	  myFiring = true;
	  
	  myDesired.setVel(mySpeed);
	  myDesired.setHeading(myHeading);
  
	}
      else if(counter > 0 && (myRobot->getVel() > -50 && myRobot->getVel() < 50))
	{
	  stoppedSince.setToNow();
	}
      else return NULL;
    }
  else return NULL;
  

  return &myDesired;
}  
